US8600138B2 - Method for processing radiological images to determine a 3D position of a needle - Google Patents

Method for processing radiological images to determine a 3D position of a needle Download PDF

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Publication number
US8600138B2
US8600138B2 US13/112,163 US201113112163A US8600138B2 US 8600138 B2 US8600138 B2 US 8600138B2 US 201113112163 A US201113112163 A US 201113112163A US 8600138 B2 US8600138 B2 US 8600138B2
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instrument
image
acquired
images
projected images
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US20110286653A1 (en
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Sébastien Gorges
Yves Trousset
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General Electric Co
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General Electric Co
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    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T11/00—2D [Two Dimensional] image generation
    • G06T11/003—Reconstruction from projections, e.g. tomography
    • G06T11/006—Inverse problem, transformation from projection-space into object-space, e.g. transform methods, back-projection, algebraic methods
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T7/00—Image analysis
    • G06T7/50—Depth or shape recovery
    • G06T7/55—Depth or shape recovery from multiple images
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T7/00—Image analysis
    • G06T7/70—Determining position or orientation of objects or cameras
    • G06T7/73—Determining position or orientation of objects or cameras using feature-based methods
    • G06T7/74—Determining position or orientation of objects or cameras using feature-based methods involving reference images or patches
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T2207/00—Indexing scheme for image analysis or image enhancement
    • G06T2207/10—Image acquisition modality
    • G06T2207/10072—Tomographic images
    • G06T2207/10081—Computed x-ray tomography [CT]
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T2207/00—Indexing scheme for image analysis or image enhancement
    • G06T2207/10—Image acquisition modality
    • G06T2207/10116—X-ray image
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T2207/00—Indexing scheme for image analysis or image enhancement
    • G06T2207/30—Subject of image; Context of image processing
    • G06T2207/30004—Biomedical image processing
    • G06T2207/30021—Catheter; Guide wire
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T2211/00—Image generation
    • G06T2211/40—Computed tomography
    • G06T2211/436—Limited angle

Definitions

  • Embodiments of the present invention relate to the field of medical imaging and more particularly relate to the processing of interventional radiology images.
  • Embodiment of the present invention further particularly relate to a method and system for allowing the real-time display of the position of a rectilinear instrument, notably a needle, in a region of interest of a patient.
  • a surgeon must insert a needle in a region of interest of a patient, for example, into the patient's spine.
  • the surgeon must be able to visualize the region of interest and the instrument used. To do so, the surgeon has a three-dimensional (3D) image of the region of interest in which the needle can be seen.
  • the 3D image may be obtained by tomographic reconstruction.
  • the 3D image of the region of interest is obtained by acquiring several two-dimensional (2D) images using an X-ray medical imaging system and by determining a 3D image from the acquired 2D images. Monitoring must be ensured in real-time, which means that it is necessary to obtain 3D images of the region of interest in real-time.
  • determining of a 3D image takes time.
  • determining of the 3D image requires the acquisition of numerous 2D images resulting in a non-negligible X-ray dose.
  • a method to process images for interventional imaging wherein a 3D image of an object is visualized with a medical imaging system, the medical imaging system comprising an X-ray source and a detector.
  • the method comprises acquiring a plurality of 2D-projected images of the object along a plurality of orientations of the imaging chain, wherein a rectilinear instrument has been inserted into the object.
  • the method also comprises determining a 3D reconstruction of the instrument such that a plurality of 2D projections of the 3D image of the instrument, along the respective orientations in the 2D-projected images of the object were acquired, are closest to the acquired 2D-projected images of the object.
  • the method further comprises superimposing the 3D reconstruction of the instrument over the 3D image of the object so as to obtain a 3D image comprising the object and the instrument.
  • a medical imaging system comprises a source configured to emit a beam of rays; a detector positioned facing the source and configured to detect the rays emitted by the source; a support positioned between the source and the detector; and a storage unit; an interface unit.
  • the medical imaging system further comprises a processing unit configured to: aquire a plurality of 2D-projected images of the object along a plurality of orientations of the imaging chain, wherein a rectilinear instrument has been inserted into the object; determine a 3D reconstruction of the instrument such that a plurality of 2D projections of the 3D image of the instrument, along the respective orientations in the 2D-projected images of the object were acquired, are closest to the acquired 2D-projected images of the object; and superimpose the 3D reconstruction of the instrument over the 3D image of the object so as to obtain a 3D image comprising the object and the instrument.
  • FIG. 1 illustrates a medical imaging system in accordance with one embodiment of the invention
  • FIG. 2 schematically illustrates the steps of a method in accordance with one embodiment of the invention
  • FIG. 3 illustrates a 3D image of a region of interest of an object
  • FIGS. 4 a and 4 b illustrate 2D-projected images of an instrument
  • FIG. 5 illustrates a 3D image of a region of interest of an object with an instrument, according to a first configuration
  • FIG. 6 illustrates a 3D image of a region of interest of an object with an instrument according to a second configuration.
  • FIG. 1 illustrates a medical imaging system in accordance with one embodiment of the invention.
  • the medical imaging system comprises a source 1 intended to emit a beam 2 of X-rays, a detector 3 arranged facing the source 1 and configured to detect the rays emitted by the source 1 , a support 8 arranged between the source 1 and the detector 3 , a processing unit 4 , a storage unit 5 and an interface unit 6 .
  • the X-ray source 1 and the detector 3 are connected via a C-arm 12 .
  • the arm 12 is more commonly called a vascular C-arm.
  • the arm 12 can be orientated over three degrees of freedom as is illustrated by the arrows in FIG. 1 .
  • the support 8 is intended to receive a patient 7 in whom the surgeon is to perform surgery, such as vertebroplasty.
  • the processing unit 4 is configured to command emission of X-rays by the source 1 and movement of the vascular C-arm 12 .
  • the processing unit 4 is configured to command reading of an image by the detector 3 and to receive data acquired by the detector 3 .
  • the processing unit 4 for example is one or more computers, one or more processors, one or more microcontrollers, one or more micro-computers, one or more programmable logic controllers, one or more application-specific integrated circuits, other programmable circuits, or other devices which include a computer such as a work station.
  • the processing unit 4 is coupled with the storage means 5 which may be integrated in or separate from the processing unit 4 .
  • These means can be formed of a hard disk or any other removable storage means (CD-ROM, disk, etc. . . . ).
  • These storage means 5 can be used to store an acquired or processed radiological image of the region to be treated. They may be a ROM/RAM memory of the processing unit 4 , a CD-ROM, USB key, memory of a central server.
  • the processing unit 4 may comprise a reading device (not shown) e.g. a disk drive or CD-ROM drive, to read the instructions of a method to process radiological images (described below) from an instruction medium (not shown) such as a floppy disk or CD-ROM.
  • the processing unit 4 executes the instructions of the processing method (described below) stored in firmware (not shown).
  • the interface unit 6 comprises a display device 9 .
  • the interface unit 6 provides the surgeon with means to control the procedure. More precisely, during procedure, the surgeon is able to visualize a 3D image of the region of interest with the instrument on the display device 9 .
  • the display device 9 is for example a computer screen, a monitor, flat screen, plasma screen or any commercially available display device. The display device 9 enables the surgeon to visualize the instrument in the region of interest to be treated.
  • FIG. 2 schematically illustrates the steps of a method in accordance with one embodiment of the invention.
  • a 3D image 20 is reconstructed of a region of interest of a patient 7 in whom surgery, and notably needle insertion, is to be performed.
  • FIG. 3 schematically illustrates the 3D image 20 of the region of interest of the patient 7 .
  • This reconstruction is carried out by acquiring a succession of 2D-projected images of the region of interest of the patient 7 , then by tomographic reconstruction of the 3D image from the 2D-projected images of the region of interest of the patient 7 .
  • the 3D image may be, for example, an image of a patient's spine.
  • a plurality of 2D-projected images are acquired 200 .
  • the objective of this acquisition 200 is to provide a plurality of 2D-projected images of the needle 11 .
  • imaging chain is meant the position of the arm 12 in space which defines a position of the X-ray source 1 in relation to the detector 3 .
  • FIGS. 4 a and 4 b schematically illustrate two 2D-projected images 40 , 50 of the needle 11 .
  • two and ten 2D-projected images may be acquired.
  • Preferably two images are acquired. In the remainder hereof it is considered that only two 2D images 40 , 50 are acquired.
  • the 3D position of the instrument is determined 300 .
  • the 3D position of the instrument is such that a plurality of 2D projections of the 3D image of the instrument 9 , along the respective orientations in which the 2D-projected images of the region of interest of the patient 7 were acquired, are closest to the 2D-projected images of the region of interest of the patient 7 .
  • a 3D reconstruction of the instrument to be tested is generated, the test consisting of projecting this 3D image along identical orientations to the orientations in which the 2D-projected images of the region of interest were acquired.
  • FIG. 5 illustrates the 3D image of the instrument. To determine the conformity of this 3D image of the instrument, a comparison is made between the projections 40 ′, 50 ′ of this 3D image 60 of the instrument with the effectively acquired 2D projections 40 , 50 of the instrument.
  • the 3D reconstruction which generated these 2D projections 40 ′, 50 ′ of the needle is the desired 3D reconstruction of the instrument.
  • the 3D reconstruction 60 of the instrument thus obtained is then superimposed 400 over the 3D image of the region of interest so as to obtain a 3D image of the region of interest with the needle.
  • FIG. 6 illustrates the 3D image of the region of interest with the needle 11 .
  • two 2D-projected images 40 , 50 are provided, and it is these images that are used to determine the 3D reconstruction image of the instrument. From the 2D-projected images of the instrument it is possible to determine the 3D position of the tip 91 of the needle 11 .
  • N 1 and N 2 are respectively the 2D projections obtained from the 3D reconstruction of the instrument; S 1 and S 2 are 2D criteria for example the sum of the grey shades of the 2D images in a region of interest defined by N 1 and N 2 ; and N is the complete 3D position of the needle.
  • the complete 3D position of the needle is described by five parameters: the 3D position of the tip of the needle; the orientation of the needle (i.e. two angles).

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  • Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Theoretical Computer Science (AREA)
  • Computer Vision & Pattern Recognition (AREA)
  • Algebra (AREA)
  • Mathematical Analysis (AREA)
  • Mathematical Optimization (AREA)
  • Mathematical Physics (AREA)
  • Pure & Applied Mathematics (AREA)
  • Apparatus For Radiation Diagnosis (AREA)
US13/112,163 2010-05-21 2011-05-20 Method for processing radiological images to determine a 3D position of a needle Active 2032-04-20 US8600138B2 (en)

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FR1053955 2010-05-21
FR1053955A FR2960332B1 (fr) 2010-05-21 2010-05-21 Procede de traitement d'images radiologiques pour determiner une position 3d d'une aiguille.

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US9848922B2 (en) 2013-10-09 2017-12-26 Nuvasive, Inc. Systems and methods for performing spine surgery
US10667869B2 (en) 2017-05-17 2020-06-02 General Electric Company Guidance system for needle procedures
US10806520B2 (en) 2014-05-23 2020-10-20 Koninklijke Philips N.V. Imaging apparatus for imaging a first object within a second object
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DE102013208793B4 (de) * 2013-05-14 2015-04-23 Siemens Aktiengesellschaft Verfahren zur Generierung eines 3D-Bilddatensatzes von einem zu untersuchenden Volumen als Basis für Anzeige-Bilddaten
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Cited By (12)

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Publication number Priority date Publication date Assignee Title
US9510771B1 (en) 2011-10-28 2016-12-06 Nuvasive, Inc. Systems and methods for performing spine surgery
USRE49094E1 (en) 2011-10-28 2022-06-07 Nuvasive, Inc. Systems and methods for performing spine surgery
US9848922B2 (en) 2013-10-09 2017-12-26 Nuvasive, Inc. Systems and methods for performing spine surgery
US20150131886A1 (en) * 2013-11-13 2015-05-14 Pie Medical Imaging B.V. Method and System for Registering Intravascular Images
US9811939B2 (en) * 2013-11-13 2017-11-07 Pie Medical Imaging B.V. Method and system for registering intravascular images
US10806520B2 (en) 2014-05-23 2020-10-20 Koninklijke Philips N.V. Imaging apparatus for imaging a first object within a second object
EP3254627A1 (fr) 2016-06-08 2017-12-13 General Electric Company Système de guidage fluoroscopique avec décalage de source de lumière et procédé d'utilisation
US10667869B2 (en) 2017-05-17 2020-06-02 General Electric Company Guidance system for needle procedures
US10893842B2 (en) 2018-02-08 2021-01-19 Covidien Lp System and method for pose estimation of an imaging device and for determining the location of a medical device with respect to a target
US11364004B2 (en) 2018-02-08 2022-06-21 Covidien Lp System and method for pose estimation of an imaging device and for determining the location of a medical device with respect to a target
US11712213B2 (en) 2018-02-08 2023-08-01 Covidien Lp System and method for pose estimation of an imaging device and for determining the location of a medical device with respect to a target
US11896414B2 (en) 2018-02-08 2024-02-13 Covidien Lp System and method for pose estimation of an imaging device and for determining the location of a medical device with respect to a target

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CN102289843B (zh) 2015-07-22
CN102289843A (zh) 2011-12-21
US20110286653A1 (en) 2011-11-24
FR2960332B1 (fr) 2013-07-05
FR2960332A1 (fr) 2011-11-25

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